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Abstract: Diplomsko delo zajema opis humanoidnega robota Pepper, ki smo ga vodili po poti oblike NURBS krivulje. NURBS krivuljo smo generirali s programom, ki smo ga napisali v programskem jeziku Python 2.7 in knjižnico NURBS-Python. Diplomsko delo vsebuje tudi matematičen opis NURBS krivulj in opis programa, ki smo ga napisali za izračun tangencialnih in kotnih hitrost potrebnih za sledenje robota načrtovani poti. Na koncu smo sledenje robota načrtovani poti z izračunanimi hitrostmi testirali in po opravljenih več poskusih z različnimi vhodnimi podatki analizirali odstopanja, ki se pojavijo in jim poskušali določiti vzroke.
Keywords: Robot Pepper, NURBS krivulje, preračun hitrosti
Published in DKUM: 28.02.2024; Views: 242; Downloads: 18
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Abstract: V tem delu bomo preučili delovanje poplavnega algoritma in način njegove izvedbe. V programskem jeziku Python bomo izvedli izris bolniške sobe po načrtu, ki smo ga izrisali s pomočjo pridobljenih meritev. V nadaljevanju bomo opisali implementacijo poplavnega algoritma in rekurzivnega iskanja poti v programskem jeziku Python in knjižnice, s katerimi smo si pomagali pri delu. Sledila bo razlaga delovanja uporabniškega vmesnika, s pomočjo katerega lahko poljubno izbiramo začetno in končno polje želene poti. Nalogo bomo zaključili z analizo različnih izrisov poti po bolniški sobi in meritvijo hitrosti izvajanja poplavnega algoritma.
Keywords: robot Pepper, poplavni algoritem, rekurzivno iskanje poti
Published in DKUM: 21.10.2022; Views: 632; Downloads: 57
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Abstract: Pepper (Capsicum annuum L.) as widely distributed vegetable crop in the world is an excellent source of nutritive and biologically active compounds. The characteristic compounds, capsaicinoids and carotenoids, highlight the importance of the red hot pepper varieties and their oleoresin extracts in the food and pharmaceutical industry. In the Ph.D. thesis was studied the possibility for a separate and integral utilization of the red hot pepper for obtaining the oleoresins from pericarp, placenta, seeds and stalk. Pre-treatment of the raw material (drying, separation of anatomical structures i.e. pericarp, placenta and seeds, and determination of theirs physico-chemical characteristics and determination of the he characteristic bioactive compounds: capsaicinoids, carotenoids and volatiles was studied, also. The second part of the Ph.D. thesis was focused of the determination of the optimal conditions for isolation of the bioactive capsaicinoids and coloured compounds, through comparative following of the thermodynamical parameters by application of organic solvents and supercritical fluids. Influence of the working parameters: temperature, time, pressure, solid to liquid phase ratio, density, type of solvents, and particle size of raw material on the yield of extract and content of capsaicinoids, colour compounds and volatiles was studied. Modelling of the experimental phase data by application of mathematical methods was performed. Re-utilization of seed and stalk from red hot pepper in form of extracts for development of new formulations as edible films, biopesticides and nanoemulsions was studied, also.
Keywords: red hot pepper, pericarp, placenta, seed, stalk, extraction, sub- and supercritical fluids, bioactive compounds, volatiles, re-utilization, edible films, biopesticides, nanoemulsions
Published in DKUM: 08.11.2016; Views: 2255; Downloads: 172
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